Mechanism Simulation and Experiment of 3-DOF Parallel Robot Based on MATLAB

Abstract

This paper designed a kind of DELTA parallel robot to realize the seedsorting, which simplifies the FANUC(M-1iA) parallel robot in instancestructure. SolidWorks is used to establish a 3d model and converts itinto a SimMechanics model. After that simple movement simulationexperiments is carried out to verify the correctness of the model. Fiveorder polynomial curves are used in planning portal grabbing path. Basedon the established simulation model, PID control algorithm is designedand tested, whose results can meet the precision of the designrequirements. Based on the proceeding investigation, a seed-sortingcomprehensive simulation experiment is designed; the seed-sorting andlocating is completed and simulation results are verified. The robothand for grasp and absorb is installed on FANUC (M-1iA) parallel robots.Sorting and locating experiment results is simulant to that of thesimulation.